Design and experiment of chassis control system for arched waist agricultural robot
LI Caimin
NIE Jianjun
XIA Kongtao
XIE Xiaolin
Abstract：To address the low automation of conventional machinery in hilly and mountainous areas,an arched waist agricultural robot chassis control system was designed.The control system takes STC32 G12 K128 as the main control chip,and uses SBUS protocol to conduct data interaction with the remote control receiver,the main control chip then controls the robot's shift,steering,machine lifting and so on through RS458 communication.The transmission shift control system,steering and power performance of the robot are tested by the prototype.The result shows that the robot has a certain a-bility of heavy load operation.The average minimum turning radius of right turn is 806 mm,and the average minimum turning radius of left turn is 804 mm.The maximum obstacle height is 224.3 mm.The maximum ditching depth is 220 mm and the width is 350 mm.Additionally,the gear shift control system of the robot can respond quickly and accurately to the operation of the remote controller,which can meet the needs of most farmland operations.
Keywords：robot chassiscontrol systemremote controltransmission control
Publication Date：2025-02-25
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 12-19 )